diff --git a/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp b/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
index cb5aa1a..fd76e9e 100644
--- a/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
+++ b/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
@@ -1266,9 +1266,10 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
   // nếu đường thẳng
   if (max_kappa <= straight_threshold) 
   { 
-    if(fabs(path.poses.back().pose.x) * 0.9 < min_lookahead_dist_ && fabs(path.poses.back().pose.theta) < 0.1)
+    if(fabs(path.poses.back().pose.x) * 0.9 < min_lookahead_dist_)
     {
-      drive_cmd.theta = 0.01;
+      if(fabs(path.poses.back().pose.x) < min_journey_squared_ && fabs(path.poses.back().pose.theta) < 0.05)
+        drive_cmd.theta = 0.01;
       return generateParallelPath(path, sign_x);
     }
     return generateHermiteTrajectory(path, sign_x);